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The following nine (re)settings will prepare your D500 to, using Advanced Group Autofocus mode, to select and autofocus at a subject and be ready to shoot a (series of) picture(s) as soon as you press Release button:
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1. CUSTOM SETTINGS MENU
custom settings bank A
(select) a autofocus
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2. a Autofocus
(select) a8 AF Activation OFF
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3. a8 AF Activation
Shutter / AF-ON
(result:) AF-ON Only
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4, CUSTOM SETTINGS MENU
custom settings bank A
(select) f controls
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5. f CONTROLS
f1 custom control assignment
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6. f1 custom control assignment
Subselector
focus point selection
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7. f1 custom control assignment
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10. The overall result of these nine settings is that your D500 now will:
Full automatically shoot pictures using AF Group mode when you press AF ON button
Full automatically shoot pictures using Dynamic AF 25 points mode when you press Joystick